Dual-Motor Steering Control with Output Limit Compensation
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Solution Overview
Problem
Motor driven power steering systems with redundant structures for autonomous vehicles face decreased overall output when one side's output is limited due to temperature or voltage issues, leading to control performance deterioration.
Innovation Solution
An apparatus and method that utilize dual processors and communication modules to compensate for output limitations by exchanging compensation information, ensuring that the system maintains 100% output through summation of 50% outputs from each side, thereby preventing control performance degradation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a redundant structure is applied to prevent control blank and secure driver safety, then reliability is improved, but overall output decreases when one side's output is limited
Solution Approach 1:
The system implements feedback by having each processor monitor its own output limit rate and communicate this information to the other processor. The normal processor receives feedback about the abnormal processor's output limitation and adjusts its own output accordingly to compensate, ensuring the total system output remains at 100%.
Solution Approach 2:
The system changes the operating parameters dynamically by adjusting the output limit rate of each processor based on real-time conditions. When one processor is abnormal, its output limit rate is reduced, and the normal processor's output limit rate is increased to compensate, maintaining the sum at 100% through parameter adjustment.
2Object-affected harmful factors
If output limitation occurs due to temperature or voltage problems, then system protection is improved, but control performance deteriorates
Solution Approach 1:
The communication modules act as intermediaries between the two processors, enabling the normal processor to receive information about the abnormal processor's output limitation and coordinate compensation. This intermediary communication allows the system to maintain control performance despite individual component limitations.
Solution Approach 2:
The system prepares for potential output limitations by having a redundant processor ready to compensate. When temperature or voltage problems cause output limitation in one processor, the other processor is already positioned to take up the slack, cushioning against control performance deterioration.
Data Source
AI summary
An apparatus for controlling a motor driven power steering system of a vehicle and a method thereof are disclosed. The apparatus includes: first and second memories configured to store execution programs therein; and first and second processors operatively coupled to the first and second memories, respectively, wherein the first and second processors are configured to: receive an input of a command steering angle from an upper level system by driving the execution programs, calculate a command current for a position control by receiving a feedback of sensing results from first and second sensing modules configured to sense respective operation states of first and second driving motors for steering vehicle wheels, and drive the first and second driving motors by compensating for the command current after exchanging compensation information by an output limit rate through first and second communication modules.